{"id":17675178,"url":"https://github.com/khengyun/ros2_joystick_py","last_synced_at":"2026-05-05T23:33:29.680Z","repository":{"id":107001450,"uuid":"609535609","full_name":"khengyun/ros2_joystick_py","owner":"khengyun","description":"joy control template - custom code","archived":false,"fork":false,"pushed_at":"2023-04-20T20:27:04.000Z","size":7,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-03-30T17:12:10.276Z","etag":null,"topics":["gazebo11","joy","robotics","ros2"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/khengyun.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-03-04T13:26:57.000Z","updated_at":"2023-04-20T20:25:46.000Z","dependencies_parsed_at":null,"dependency_job_id":"d5458274-b537-4bfd-996a-071c2314b3d4","html_url":"https://github.com/khengyun/ros2_joystick_py","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/khengyun/ros2_joystick_py","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khengyun%2Fros2_joystick_py","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khengyun%2Fros2_joystick_py/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khengyun%2Fros2_joystick_py/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khengyun%2Fros2_joystick_py/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/khengyun","download_url":"https://codeload.github.com/khengyun/ros2_joystick_py/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khengyun%2Fros2_joystick_py/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32672675,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-05T11:29:49.557Z","status":"ssl_error","status_checked_at":"2026-05-05T11:29:48.587Z","response_time":54,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["gazebo11","joy","robotics","ros2"],"created_at":"2024-10-24T07:10:14.524Z","updated_at":"2026-05-05T23:33:29.662Z","avatar_url":"https://github.com/khengyun.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ros2_joystick_py\n\n# Overview\nThe purpose of this package is to provide a generic facility for tele-operating Twist-based ROS2 robots with a standard joystick. \nIt converts joy messages to velocity commands.\n\nThis node provides no rate limiting or autorepeat functionality. It is expected that you take advantage of the features built into [joy](https://index.ros.org/p/joy/github-ros-drivers-joystick_drivers/#foxy) for this.\n\n## Executables\nThe package comes with the `teleop_node` that republishes `sensor_msgs/msg/Joy` messages as scaled `geometry_msgs/msg/Twist` messages.\n\n## Subscribed Topics\n- `joy (sensor_msgs/msg/Joy)`\n  - Joystick messages to be translated to velocity commands.\n\n## Published Topics\n- `cmd_vel (geometry_msgs/msg/Twist)`\n  - Command velocity messages arising from Joystick commands.\n\n## Parameters\n- `require_enable_button (bool, default: true)`\n  - Whether to require the enable button for enabling movement.\n\n- `enable_button (int, default: 0)`\n  - Joystick button to enable regular-speed movement.\n  \n- `enable_turbo_button (int, default: -1)`\n  - Joystick button to enable high-speed movement (disabled when -1).\n\n- `axis_linear.\u003caxis\u003e`\n  - Joystick axis to use for linear movement control.\n  - `axis_linear.x (int, default: 5)`\n  - `axis_linear.y (int, default: -1)`\n  - `axis_linear.z (int, default: -1)`\n\n- `scale_linear.\u003caxis\u003e`\n  - Scale to apply to joystick linear axis for regular-speed movement.\n  - `scale_linear.x (double, default: 0.5)`\n  - `scale_linear.y (double, default: 0.0)`\n  - `scale_linear.z (double, default: 0.0)`\n\n- `scale_linear_turbo.\u003caxis\u003e`\n  - Scale to apply to joystick linear axis for high-speed movement.\n  - `scale_linear_turbo.x (double, default: 1.0)`\n  - `scale_linear_turbo.y (double, default: 0.0)`\n  - `scale_linear_turbo.z (double, default: 0.0)`\n\n- `axis_angular.\u003caxis\u003e`\n  - Joystick axis to use for angular movement control.\n  - `axis_angular.yaw (int, default: 2)`\n  - `axis_angular.pitch (int, default: -1)`\n  - `axis_angular.roll (int, default: -1)`\n  \n- `scale_angular.\u003caxis\u003e`\n  - Scale to apply to joystick angular axis.\n  - `scale_angular.yaw (double, default: 0.5)`\n  - `scale_angular.pitch (double, default: 0.0)`\n  - `scale_angular.roll (double, default: 0.0)`\n  \n- `scale_angular_turbo.\u003caxis\u003e`\n  - Scale to apply to joystick angular axis for high-speed movement.\n  - `scale_angular_turbo.yaw (double, default: 1.0)`\n  - `scale_angular_turbo.pitch (double, default: 0.0)`\n  - `scale_angular_turbo.roll (double, default: 0.0)`\n    \n\n  \n\n\n# Usage\n\n## Install\nFor most users building from source will not be required,\n- execute: `sudo apt-get install ros-\u003crosdistro\u003e-teleop-twist-joy` to install.\n\n## Run\nA launch file has been provided which has three arguments which can be changed in the terminal or via your own launch file.\nTo configure the node to match your joystick a config file can be used. \nThere are several common ones provided in this package (atk3, ps3-holonomic, ps3, xbox, xd3), located here: https://github.com/ros2/teleop_twist_joy/tree/eloquent/config.\n\nPS3 is default, to run for another config (e.g. xbox) use this:\n- open terminal 1:\n `ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' `\n\n- open terminal 2:\n `python3 joy.py`\n \n__Note:__ this launch file also launches the `joy` node so do not run it separately.\n\n\n## Arguments\n- `joy_config (string, default: 'ps3')`\n  - Config file to use\n- `joy_dev (string, default: 'dev/input/js0')`\n  - Joystick device to use\n- `config_filepath (string, default: '/opt/ros/\u003crosdistro\u003e/share/teleop_twist_joy/config/' + LaunchConfig('joy_config') + '.config.yaml')`\n  - Path to config files\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkhengyun%2Fros2_joystick_py","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkhengyun%2Fros2_joystick_py","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkhengyun%2Fros2_joystick_py/lists"}